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px4-firmware
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Simplify the failsafe handling, reduce 3 params to one

This commit is contained in:
Lorenz Meier 2014-04-05 10:29:17 +02:00
parent 1ecd3e9291
commit fb44ad8e22
2 changed files with 10 additions and 44 deletions
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28
src/modules/sensors/sensor_params.c
View File

@ -668,33 +668,11 @@ PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
*/
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
/**
* Failsafe channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_CH, 0);
/**
* Failsafe channel mode.
*
* 0 = too low means signal loss,
* 1 = too high means signal loss
*
* @min 0
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_MODE, 0);
/**
* Failsafe channel PWM threshold.
*
* @min 0
* @max 1
* @min 800
* @max 2200
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FS_THR, 800);
PARAM_DEFINE_FLOAT(RC_FS_THR, 0);

26
src/modules/sensors/sensors.cpp
View File

@ -263,8 +263,6 @@ private:
float rc_scale_yaw;
float rc_scale_flaps;
int rc_fs_ch;
int rc_fs_mode;
float rc_fs_thr;
float battery_voltage_scaling;
@ -313,8 +311,6 @@ private:
param_t rc_scale_yaw;
param_t rc_scale_flaps;
param_t rc_fs_ch;
param_t rc_fs_mode;
param_t rc_fs_thr;
param_t battery_voltage_scaling;
@ -531,8 +527,6 @@ Sensors::Sensors() :
_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
/* RC failsafe */
_parameter_handles.rc_fs_ch = param_find("RC_FS_CH");
_parameter_handles.rc_fs_mode = param_find("RC_FS_MODE");
_parameter_handles.rc_fs_thr = param_find("RC_FS_THR");
/* gyro offsets */
@ -689,8 +683,6 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch));
param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode));
param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
/* update RC function mappings */
@ -1312,19 +1304,15 @@ Sensors::rc_poll()
manual_control.aux5 = NAN;
/* require at least four channels to consider the signal valid */
if (rc_input.channel_count < 4)
if (rc_input.channel_count < 4) {
return;
}
/* failsafe check */
if (_parameters.rc_fs_ch != 0) {
if (_parameters.rc_fs_mode == 0) {
if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr)
return;
} else if (_parameters.rc_fs_mode == 1) {
if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
return;
}
/* check for failsafe */
if (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr))
|| ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) {
/* do not publish manual control setpoints when there are none */
return;
}
unsigned channel_limit = rc_input.channel_count;